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5be867da1c
* Duplicate empty `_node` check removed from Subscription.hpp (#23316) * newline * move uORB gtests to uORB/test --------- Co-authored-by: Jacob Dahl <dahl.jakejacob@gmail.com> Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
115 lines
3.0 KiB
C++
115 lines
3.0 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2019-2024 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* Test for Subscription
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*/
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#include <gtest/gtest.h>
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#include <uORB/Subscription.hpp>
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#include <uORB/uORB.h>
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#include <uORB/topics/orb_test.h>
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namespace uORB
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{
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namespace test
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{
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class uORBSubscriptionTestable : public uORB::Subscription
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{
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public:
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uORBSubscriptionTestable() : Subscription(ORB_ID(orb_test), 0)
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{
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}
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void setNodeValue(void *node)
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{
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_node = node;
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}
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void *getNodeValue()
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{
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return _node;
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}
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};
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class uORBSubscriptionTest : public ::testing::Test
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{
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protected:
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uORBSubscriptionTestable testable;
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static void SetUpTestSuite()
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{
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uORB::Manager::initialize();
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orb_test_s message{};
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orb_advertise(ORB_ID(orb_test), &message);
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}
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static void TearDownTestSuite()
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{
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uORB::Manager::terminate();
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}
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void TearDown() override
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{
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testable.setNodeValue(nullptr);
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}
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};
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TEST_F(uORBSubscriptionTest, updateWhenSubscribedThenNotSubscribedTwice)
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{
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int anyValue = 1;
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testable.setNodeValue(&anyValue);
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testable.updated();
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ASSERT_EQ(testable.getNodeValue(), &anyValue) << "Original node value don't have to be overrwiten";
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}
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TEST_F(uORBSubscriptionTest, updateWhenNotSubscribedThenSubscribed)
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{
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testable.setNodeValue(nullptr);
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testable.updated();
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ASSERT_NE(testable.getNodeValue(), nullptr) << "Node value after 'updated' have to be initialized";
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}
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}
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}
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